0024473: TKMath, BVH - introduce template-based package for Bounding volume hierarchy...

[occt.git] / src / BVH / BVH_Properties.lxx

// Created on: 2013-12-20
// Created by: Denis BOGOLEPOV
// Copyright (c) 2013 OPEN CASCADE SAS
//
// This file is part of Open CASCADE Technology software library.
//
// This library is free software; you can redistribute it and / or modify it
// under the terms of the GNU Lesser General Public version 2.1 as published
// by the Free Software Foundation, with special exception defined in the file
// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
// distribution for complete text of the license and disclaimer of any warranty.
//
// Alternatively, this file may be used under the terms of Open CASCADE
// commercial license or contractual agreement.

// =======================================================================
// function : BVH_Transform
// purpose  :
// =======================================================================
template<class T, int N>
BVH_Transform<T, N>::BVH_Transform()
{
  //
}

// =======================================================================
// function : BVH_Transform
// purpose  :
// =======================================================================
template<class T, int N>
BVH_Transform<T, N>::BVH_Transform (const BVH_MatNt& theTransform)
: myTransform (theTransform)
{
  //
}

// =======================================================================
// function : ~BVH_Transform
// purpose  :
// =======================================================================
template<class T, int N>
BVH_Transform<T, N>::~BVH_Transform()
{
  //
}

// =======================================================================
// function : Transform
// purpose  :
// =======================================================================
template<class T, int N>
const typename BVH_Transform<T, N>::BVH_MatNt& BVH_Transform<T, N>::Transform() const
{
  return myTransform;
}

namespace BVHTools
{
  template<class T, int N> struct MatrixOp
  {
    // Not implemented
  };

  template<class T> struct MatrixOp<T, 4>
  {
    typedef typename BVHTools::MatrixType<T, 4>::Type BVH_Mat4t;

    static void Inverse (const BVH_Mat4t& theIn,
                         BVH_Mat4t&       theOut)
    {
      theIn.Inverted (theOut);
    }

    typedef typename BVHTools::VectorType<T, 4>::Type BVH_Vec4t;

    static BVH_Vec4t Multiply (const BVH_Mat4t& theMat,
                               const BVH_Vec4t& theVec)
    {
      BVH_Vec4t aOut = theMat * theVec;
      return aOut * static_cast<T> (1.0 / aOut.w());
    }
  };
}

// =======================================================================
// function : SetTransform
// purpose  :
// =======================================================================
template<class T, int N>
void BVH_Transform<T, N>::SetTransform (const BVH_MatNt& theTransform)
{
  myTransform = theTransform;
  BVHTools::MatrixOp<T, N>::Inverse (myTransform, myTransformInversed);
}

// =======================================================================
// function : Inversed
// purpose  :
// =======================================================================
template<class T, int N>
const typename BVH_Transform<T, N>::BVH_MatNt& BVH_Transform<T, N>::Inversed() const
{
  return myTransformInversed;
}

namespace BVHTools
{
  template<class T, int N>
  struct UnitVector
  {
    // Not implemented
  };

  template<class T>
  struct UnitVector<T, 2>
  {
    typedef typename BVHTools::VectorType<T, 2>::Type BVH_Vec2t;

    static BVH_Vec2t DX()
    {
      return BVH_Vec2t (static_cast<T> (1.0),
                        static_cast<T> (0.0));
    }

    static BVH_Vec2t DY()
    {
      return BVH_Vec2t (static_cast<T> (0.0),
                        static_cast<T> (1.0));
    }

    static BVH_Vec2t DZ()
    {
      return BVH_Vec2t (static_cast<T> (0.0),
                        static_cast<T> (0.0));
    }
  };

  template<class T>
  struct UnitVector<T, 3>
  {
    typedef typename BVHTools::VectorType<T, 3>::Type BVH_Vec3t;

    static BVH_Vec3t DX()
    {
      return BVH_Vec3t (static_cast<T> (1.0),
                        static_cast<T> (0.0),
                        static_cast<T> (0.0));
    }

    static BVH_Vec3t DY()
    {
      return BVH_Vec3t (static_cast<T> (0.0),
                        static_cast<T> (1.0),
                        static_cast<T> (0.0));
    }

    static BVH_Vec3t DZ()
    {
      return BVH_Vec3t (static_cast<T> (0.0),
                        static_cast<T> (0.0),
                        static_cast<T> (1.0));
    }
  };

  template<class T>
  struct UnitVector<T, 4>
  {
    typedef typename BVHTools::VectorType<T, 4>::Type BVH_Vec4t;

    static BVH_Vec4t DX()
    {
      return BVH_Vec4t (static_cast<T> (1.0),
                        static_cast<T> (0.0),
                        static_cast<T> (0.0),
                        static_cast<T> (0.0));
    }

    static BVH_Vec4t DY()
    {
      return BVH_Vec4t (static_cast<T> (0.0),
                        static_cast<T> (1.0),
                        static_cast<T> (0.0),
                        static_cast<T> (0.0));
    }

    static BVH_Vec4t DZ()
    {
      return BVH_Vec4t (static_cast<T> (0.0),
                        static_cast<T> (0.0),
                        static_cast<T> (1.0),
                        static_cast<T> (0.0));
    }
  };
}

// =======================================================================
// function : Apply
// purpose  :
// =======================================================================
template<class T, int N>
BVH_Box<T, N> BVH_Transform<T, N>::Apply (const BVH_Box<T, N>& theBox) const
{
  typename BVH_Box<T, N>::BVH_VecNt aSize = theBox.Size();

  BVH_Box<T, N> aBox;
  for (Standard_Integer aX = 0; aX <= 1; ++aX)
  {
    for (Standard_Integer aY = 0; aY <= 1; ++aY)
    {
      for (Standard_Integer aZ = 0; aZ <= 1; ++aZ)
      {
        typename BVH_Box<T, N>::BVH_VecNt aCorner = theBox.CornerMin() +
          BVHTools::UnitVector<T, N>::DX() * aSize * static_cast<T> (aX) +
          BVHTools::UnitVector<T, N>::DY() * aSize * static_cast<T> (aY) +
          BVHTools::UnitVector<T, N>::DZ() * aSize * static_cast<T> (aZ);

        aBox.Add (BVHTools::MatrixOp<T, N>::Multiply (myTransform, aCorner));
      }
    }
  }

  return aBox;
}